EP0906859B1 - Bremsanlage für Kraftfahrzeuge - Google Patents

Bremsanlage für Kraftfahrzeuge Download PDF

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Publication number
EP0906859B1
EP0906859B1 EP98116489A EP98116489A EP0906859B1 EP 0906859 B1 EP0906859 B1 EP 0906859B1 EP 98116489 A EP98116489 A EP 98116489A EP 98116489 A EP98116489 A EP 98116489A EP 0906859 B1 EP0906859 B1 EP 0906859B1
Authority
EP
European Patent Office
Prior art keywords
brake
pedal
curve
retardation
braking system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP98116489A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0906859A1 (de
Inventor
Jakob Unterforsthuber
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bayerische Motoren Werke AG
Original Assignee
Bayerische Motoren Werke AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bayerische Motoren Werke AG filed Critical Bayerische Motoren Werke AG
Publication of EP0906859A1 publication Critical patent/EP0906859A1/de
Application granted granted Critical
Publication of EP0906859B1 publication Critical patent/EP0906859B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/44—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition co-operating with a power-assist booster means associated with a master cylinder for controlling the release and reapplication of brake pressure through an interaction with the power assist device, i.e. open systems
    • B60T8/441—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition co-operating with a power-assist booster means associated with a master cylinder for controlling the release and reapplication of brake pressure through an interaction with the power assist device, i.e. open systems using hydraulic boosters
    • B60T8/442—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition co-operating with a power-assist booster means associated with a master cylinder for controlling the release and reapplication of brake pressure through an interaction with the power assist device, i.e. open systems using hydraulic boosters the booster being a fluid return pump, e.g. in combination with a brake pedal force booster
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/72—Electrical control in fluid-pressure brake systems in vacuum systems or vacuum booster units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
    • B60T8/3255—Systems in which the braking action is dependent on brake pedal data
    • B60T8/3275—Systems with a braking assistant function, i.e. automatic full braking initiation in dependence of brake pedal velocity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/48—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition connecting the brake actuator to an alternative or additional source of fluid pressure, e.g. traction control systems
    • B60T8/4809—Traction control, stability control, using both the wheel brakes and other automatic braking systems
    • B60T8/4827—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems
    • B60T8/4863—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems closed systems
    • B60T8/4872—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems closed systems pump-back systems
    • B60T8/4881—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems closed systems pump-back systems having priming means

Definitions

  • the invention relates to a brake system for motor vehicles the preamble of claims 1 and 3.
  • Such a brake system is for example from DE 195 24 939 A1 known.
  • this known brake system is electronically adjustable brake unit for panic braking in dangerous situations Brake pressure over the actual by operating the brake pedal triggered driver specification in terms of full braking on the wheel brakes applied.
  • To detect panic braking the Form occurring at the outputs of the master cylinder, which from Driver is specified, evaluated. The rate of change exceeds this Pre-pressure a predetermined threshold value, the full braking executed.
  • a method is also called a brake assistant.
  • the electronically controllable Brake unit independent of that by the driver via the brake pedal applied pedal force only active if panic braking is detected full braking is to be carried out.
  • the amplifier ratio of the brake booster which is dependent on the by the Drivers applied a certain vehicle deceleration curve via the brake pedal results, is not taken into account. In particular is not any increase in the known brake system Deceleration gradients provided with increased pedal force in the absolute sense.
  • DE 195 34 728 A1 describes a special design of a brake booster known by reaching a predetermined Threshold value of the brake pedal force an increase in the deceleration gradient in the sense of an increase in the brake booster ratio is achieved.
  • This known brake booster device is on the one hand mechanically complex and secondly with respect to the predetermined Threshold values of the brake pedal force and the specification of an increased deceleration gradient inflexible.
  • the electronically controllable braking unit is preferably a hydraulic unit, such as on Page 212 of the automotive engineering magazine “ATZ", 1997, as part of the DSC system from BMW is shown.
  • the pedal actuation variable is preferably which is directly proportional to that by the driver via the Brake pedal applied pedal force is formed from the form of the usually by means of one provided at the output of the master brake cylinder Form pressure sensor is detected.
  • the actual deceleration or the actual deceleration curve can for example by the in the wheel brakes prevailing brake pressure, which is proportional to the vehicle deceleration is, or by means of those already present in ABS systems Wheel speed sensors or determined via longitudinal acceleration sensors become.
  • the brake booster alone achieved deceleration curve depending on the over the Brake pedal applied pedal force, for example, by too little Vacuum, due to low friction coefficient, by trailer operation and / or is negatively influenced by high payload.
  • the invention Brake system poses even if these negative influencing variables are present a satisfactory vehicle deceleration for the driver.
  • Fig. 1 is a brake pedal 1 to be operated by the driver with a brake booster 2 connected.
  • the brake booster 2 works with one Master cylinder 5 together.
  • Between the master cylinder 5 and The HL, HR, VL and VR wheel brakes are electronically controllable braking units 3 arranged.
  • the actuators of the electronically controllable brake unit 3 are controlled by an electronic control unit 6.
  • Farther Control unit 6 detects the one prevailing at the output of master brake cylinder 5 Form (Pvor) by means of the form sensor 4.
  • the control unit has 6 further inputs and outputs for input and output signals on.
  • the control unit 6 detects signals, for example the brake pressure values in the wheel brakes or the wheel speeds by which the actual vehicle deceleration (-a) can be determined at least indirectly.
  • the delay -a is in% (0-100%) above the pedal actuation quantity F (N) (e.g. 0-300 N) is plotted.
  • the pedal actuation size F preferably corresponds to that by the driver via the Brake pedal applied pedal force, which is formed from the pre-pressure by means of the admission pressure sensor 4 at the output of the master brake cylinder 5 is measured.
  • the term is used for the pedal actuation quantity F. "Pedal force" F used.
  • the electronic control unit 6 (Fig. 1) alone the pedal force curve achieved by the brake booster 2 considered.
  • Fig. 2 are examples of the resultant Delays the delay curve A for the best case and the worst case delay curve B is shown.
  • the cheapest Fall occurs particularly when there is high negative pressure, when the vehicle is unladen, with a high friction coefficient and without trailer operation.
  • the worst The case is particularly in the case of a low vacuum, with a fully loaded one Vehicle with a low friction coefficient or with trailer operation.
  • the Delay curves A and B with constant deceleration gradients would by the brake booster after Adjust the state of the art without the brake system according to the invention. According to the invention however, pedal force F is detected in control unit 6.
  • the "target deceleration curves" with increased deceleration gradient from reaching a predetermined threshold of the brake pedal force are preferable by increasing the wheel brake pressure in a given one Relationship to the form, here in the form of a non-linear gain factor, without necessarily taking into account the resulting delays caused.
  • the gain factor can be used for control purposes in contrast to a regulation for all delay curves C to D be equal.
  • the brake booster only effective when a certain response pedal force F1 is reached becomes. Between the response pedal force F1 and the pedal force threshold F2 can also show deceleration curves between the curves A and B result.
  • the brake booster 2 e.g. A or B
  • different pedal force threshold values F2 can be defined (not shown in FIG. 2).
  • Fig. 3 shows an alternative to the embodiment shown in Fig. 2.
  • a target deceleration characteristic curve C is shown, which is preferably empirically determined for the best case and in the control unit 6 is saved.
  • the target deceleration characteristic curve C can also be, as in FIG. 3 shown, from reaching a predetermined pedal force threshold F2 with the further increase in the pedal force F a continuously increasing have increased deceleration gradients. A continuous however, a further increase in the deceleration gradient is not mandatory required.
  • Delay threshold -a1 e.g. B. 30% by itself Actual deceleration curve reached the brake booster 2, in the example 3 according to the delay curve B, detected.
  • the predetermined delay threshold value -a1 becomes the same Actual pedal force F3 determined at the time.
  • the actual delay for the pedal force F3 corresponding to the predetermined deceleration threshold -a1 corresponds with the target deceleration corresponding to the target deceleration characteristic C is predetermined for this pedal force F3, compared. is the actual deceleration is smaller than the target deceleration for the pedal force F3, as shown in Fig.
  • the brake pressure in the wheel brakes in the sense of a regulation generates that the target deceleration curve corresponding to the target deceleration characteristic C gives; d. H. the target deceleration curve C is only from reaching a predetermined delay threshold value -a1, here z. B. 30% followed.
  • the target deceleration curve C can also first from reaching a predetermined threshold value of the pedal force F, e.g. B. of Threshold F2, are followed (not shown here).
  • the target deceleration curve C can also be continuously followed; d.
  • the actual deceleration curve is preferably according to a continuously differentiable curve D, z. B. with the help of the definition of a gain factor, to the target deceleration curve C adapted to the through a smooth transition To increase the comfort of the braking system.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Braking Systems And Boosters (AREA)
  • Regulating Braking Force (AREA)
EP98116489A 1997-10-04 1998-09-01 Bremsanlage für Kraftfahrzeuge Expired - Lifetime EP0906859B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19743960 1997-10-04
DE19743960A DE19743960A1 (de) 1997-10-04 1997-10-04 Bremsanlage für Kraftfahrzeuge

Publications (2)

Publication Number Publication Date
EP0906859A1 EP0906859A1 (de) 1999-04-07
EP0906859B1 true EP0906859B1 (de) 2003-11-26

Family

ID=7844644

Family Applications (1)

Application Number Title Priority Date Filing Date
EP98116489A Expired - Lifetime EP0906859B1 (de) 1997-10-04 1998-09-01 Bremsanlage für Kraftfahrzeuge

Country Status (5)

Country Link
US (1) US6212459B1 (ja)
EP (1) EP0906859B1 (ja)
JP (1) JP4227688B2 (ja)
DE (2) DE19743960A1 (ja)
ES (1) ES2212183T3 (ja)

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DE19817326A1 (de) * 1998-04-18 1999-10-21 Continental Teves Ag & Co Ohg Verfahren zum Verkürzen des Bremsgeweges
US6917789B1 (en) * 1999-10-21 2005-07-12 Broadcom Corporation Adaptive radio transceiver with an antenna matching circuit
JP4332962B2 (ja) * 1999-12-13 2009-09-16 トヨタ自動車株式会社 車両用ブレーキシステム
DE10003123C2 (de) * 2000-01-26 2001-11-22 Bayerische Motoren Werke Ag Bremsanlage für Kraftfahrzeuge
JP3700523B2 (ja) * 2000-02-25 2005-09-28 株式会社日立製作所 倍力装置の制御装置
DE10062978A1 (de) * 2000-12-16 2002-06-20 Bayerische Motoren Werke Ag Verfahren und Vorrichtung zur Steuerung der Bremsanlage eines Fahrzeuge
JP4590137B2 (ja) * 2001-08-29 2010-12-01 本田技研工業株式会社 屈曲路走行支援装置
WO2003068575A1 (de) * 2002-02-14 2003-08-21 Continental Teves Ag & Co. Ohg Verfahren und vorrichtung zum überwachen und/oder modifizieren von bremsdrücken
DE10335589A1 (de) * 2003-07-31 2005-03-03 Continental Teves Ag & Co. Ohg Verfahren zum Betrieb einer Fahrzeugbremsanlage
JP4483225B2 (ja) * 2003-08-21 2010-06-16 株式会社アドヴィックス 電気ブレーキ装置
DE102004022993B4 (de) * 2004-05-10 2007-04-05 Lucas Automotive Gmbh Bremssystem für ein Fahrzeug und Verfahren zum Ansteuern eines derartigen Bremssystems
US20060043790A1 (en) * 2004-08-27 2006-03-02 Spieker Arnold H Method for detecting brake circuit failure
DE102006028118B4 (de) * 2006-06-15 2016-10-13 Volkswagen Ag Bremsanlage in einem Kraftfahrzeug sowie ein dafür geeigneter Sensor
US8255103B2 (en) * 2007-03-27 2012-08-28 GM Global Technology Operations LLC Electronic brake system pedal release transition control apparatus and method
US8364367B2 (en) * 2007-10-16 2013-01-29 GM Global Technology Operations LLC Brake assist exit method and system for vehicles
US8392088B2 (en) * 2007-10-16 2013-03-05 GM Global Technology Operations LLC Brake assist driver command for vehicles
US8050836B2 (en) * 2007-10-17 2011-11-01 GM Global Technology Operations LLC Method and system for determining initiation of a panic braking maneuver
JP4497230B2 (ja) 2008-05-12 2010-07-07 トヨタ自動車株式会社 制動制御装置および制動制御方法
DE102008036607B4 (de) * 2008-08-06 2020-02-06 Lucas Automotive Gmbh Verfahren und Vorrichtung zur hydraulischen Bremsdruckverstärkung
JP5217834B2 (ja) * 2008-09-22 2013-06-19 トヨタ自動車株式会社 牽引時と非牽引時とで制動助勢が異なる牽引駆動車
DE102010042589A1 (de) * 2010-10-18 2012-04-19 Robert Bosch Gmbh Verfahren zum automatischen Bremsen eines Fahrzeugs
JP5761373B2 (ja) * 2011-12-14 2015-08-12 トヨタ自動車株式会社 ブレーキ装置および制動制御装置
DE102012223296A1 (de) 2012-12-14 2014-06-18 Continental Teves Ag & Co. Ohg Verfahren zum Betreiben eines Bremssystems
DE102013209006A1 (de) * 2013-05-15 2014-11-20 Robert Bosch Gmbh Steuervorrichtung für ein bremskraftverstärktes autonomes Bremssystem eines Fahrzeugs und Verfahren zum Betreiben eines bremskraftverstärkten autonomen Bremssystems eines Fahrzeugs
KR102115716B1 (ko) * 2013-10-07 2020-05-27 현대모비스 주식회사 전자식 유압 브레이크장치
DE102015224601A1 (de) * 2015-12-08 2017-06-08 Robert Bosch Gmbh Verfahren und Steuergerät zur Steuerung eines hydraulischen Bremssystems

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Also Published As

Publication number Publication date
ES2212183T3 (es) 2004-07-16
JP4227688B2 (ja) 2009-02-18
EP0906859A1 (de) 1999-04-07
US6212459B1 (en) 2001-04-03
JPH11157429A (ja) 1999-06-15
DE59810250D1 (de) 2004-01-08
DE19743960A1 (de) 1999-04-08

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